US10973158B2 - Apparatus and method for mounting components on a substrate - Google Patents

Apparatus and method for mounting components on a substrate Download PDF

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US10973158B2
US10973158B2 US15/947,571 US201815947571A US10973158B2 US 10973158 B2 US10973158 B2 US 10973158B2 US 201815947571 A US201815947571 A US 201815947571A US 10973158 B2 US10973158 B2 US 10973158B2
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substrate
component
camera
bond head
drive system
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US20180317353A1 (en
Inventor
Norbert Bilewicz
Andreas Mayr
Hugo Pristauz
Hubert Selhofer
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Besi Switzerland AG
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Besi Switzerland AG
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Assigned to BESI SWITZERLAND AG reassignment BESI SWITZERLAND AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BILEWICZ, NORBERT, MAYR, ANDREAS, PRISTAUZ, HUGO, SELHOFER, HUBERT
Publication of US20180317353A1 publication Critical patent/US20180317353A1/en
Priority to US17/196,798 priority Critical patent/US11696429B2/en
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Priority to US18/196,661 priority patent/US11924974B2/en
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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0413—Pick-and-place heads or apparatus, e.g. with jaws with orientation of the component while holding it; Drive mechanisms for gripping tools, e.g. lifting, lowering or turning of gripping tools
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/67005—Apparatus not specifically provided for elsewhere
    • H01L21/67011—Apparatus for manufacture or treatment
    • H01L21/67144—Apparatus for mounting on conductive members, e.g. leadframes or conductors on insulating substrates
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/02—Manufacture or treatment of semiconductor devices or of parts thereof
    • H01L21/04—Manufacture or treatment of semiconductor devices or of parts thereof the devices having potential barriers, e.g. a PN junction, depletion layer or carrier concentration layer
    • H01L21/50—Assembly of semiconductor devices using processes or apparatus not provided for in a single one of the subgroups H01L21/06 - H01L21/326, e.g. sealing of a cap to a base of a container
    • H01L21/52—Mounting semiconductor bodies in containers
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/67005—Apparatus not specifically provided for elsewhere
    • H01L21/67011—Apparatus for manufacture or treatment
    • H01L21/67121—Apparatus for making assemblies not otherwise provided for, e.g. package constructions
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/67005—Apparatus not specifically provided for elsewhere
    • H01L21/67011—Apparatus for manufacture or treatment
    • H01L21/67132—Apparatus for placing on an insulating substrate, e.g. tape
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/67005—Apparatus not specifically provided for elsewhere
    • H01L21/67242—Apparatus for monitoring, sorting or marking
    • H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/67005—Apparatus not specifically provided for elsewhere
    • H01L21/67242—Apparatus for monitoring, sorting or marking
    • H01L21/67276—Production flow monitoring, e.g. for increasing throughput
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
    • H01L21/681—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment using optical controlling means
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L22/00—Testing or measuring during manufacture or treatment; Reliability measurements, i.e. testing of parts without further processing to modify the parts as such; Structural arrangements therefor
    • H01L22/20—Sequence of activities consisting of a plurality of measurements, corrections, marking or sorting steps
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L24/00—Arrangements for connecting or disconnecting semiconductor or solid-state bodies; Methods or apparatus related thereto
    • H01L24/74—Apparatus for manufacturing arrangements for connecting or disconnecting semiconductor or solid-state bodies
    • H01L24/741—Apparatus for manufacturing means for bonding, e.g. connectors
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L24/00—Arrangements for connecting or disconnecting semiconductor or solid-state bodies; Methods or apparatus related thereto
    • H01L24/74—Apparatus for manufacturing arrangements for connecting or disconnecting semiconductor or solid-state bodies
    • H01L24/75—Apparatus for connecting with bump connectors or layer connectors
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/046—Surface mounting
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
    • H05K13/0815—Controlling of component placement on the substrate during or after manufacturing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45031—Manufacturing semiconductor wafers
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L2224/00—Indexing scheme for arrangements for connecting or disconnecting semiconductor or solid-state bodies and methods related thereto as covered by H01L24/00
    • H01L2224/74—Apparatus for manufacturing arrangements for connecting or disconnecting semiconductor or solid-state bodies and for methods related thereto
    • H01L2224/75—Apparatus for connecting with bump connectors or layer connectors
    • H01L2224/757—Means for aligning
    • H01L2224/75753—Means for optical alignment, e.g. sensors
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L2224/00—Indexing scheme for arrangements for connecting or disconnecting semiconductor or solid-state bodies and methods related thereto as covered by H01L24/00
    • H01L2224/74—Apparatus for manufacturing arrangements for connecting or disconnecting semiconductor or solid-state bodies and for methods related thereto
    • H01L2224/75—Apparatus for connecting with bump connectors or layer connectors
    • H01L2224/758—Means for moving parts
    • H01L2224/75821—Upper part of the bonding apparatus, i.e. bonding head
    • H01L2224/75824—Translational mechanism
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L2224/00—Indexing scheme for arrangements for connecting or disconnecting semiconductor or solid-state bodies and methods related thereto as covered by H01L24/00
    • H01L2224/74—Apparatus for manufacturing arrangements for connecting or disconnecting semiconductor or solid-state bodies and for methods related thereto
    • H01L2224/75—Apparatus for connecting with bump connectors or layer connectors
    • H01L2224/758—Means for moving parts
    • H01L2224/75841—Means for moving parts of the bonding head
    • H01L2224/75842—Rotational mechanism
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L2224/00—Indexing scheme for arrangements for connecting or disconnecting semiconductor or solid-state bodies and methods related thereto as covered by H01L24/00
    • H01L2224/74—Apparatus for manufacturing arrangements for connecting or disconnecting semiconductor or solid-state bodies and for methods related thereto
    • H01L2224/75—Apparatus for connecting with bump connectors or layer connectors
    • H01L2224/7598—Apparatus for connecting with bump connectors or layer connectors specially adapted for batch processes
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L2224/00—Indexing scheme for arrangements for connecting or disconnecting semiconductor or solid-state bodies and methods related thereto as covered by H01L24/00
    • H01L2224/80—Methods for connecting semiconductor or other solid state bodies using means for bonding being attached to, or being formed on, the surface to be connected
    • H01L2224/81—Methods for connecting semiconductor or other solid state bodies using means for bonding being attached to, or being formed on, the surface to be connected using a bump connector
    • H01L2224/8112—Aligning
    • H01L2224/81121—Active alignment, i.e. by apparatus steering, e.g. optical alignment using marks or sensors

Definitions

  • the invention relates to an apparatus and a method for mounting components on a substrate, typically electronic or optical components, in particular semiconductor chips and flip chips, on a substrate.
  • a substrate typically electronic or optical components, in particular semiconductor chips and flip chips
  • the mounting is also referred to as bonding process or assembly process.
  • Apparatuses of this type are particularly used in the semiconductor industry.
  • Examples of such apparatuses are Die Bonders or Pick and Place machines, with which components in the form of semiconductor chips, flip chips, micromechanical, micro-optical and electro-optical components, and the like are deposited on substrates such as leadframes, printed circuit boards, ceramics, etc. and bonded.
  • the components are picked up by a bond head at a removal location, in particular sucked in, moved to a substrate location and deposited at a precisely defined position on the substrate.
  • the bond head is part of a Pick and Place system, which enables movement of the bond head in at least three space directions. In order to enable the component to be positioned accurately on the substrate, both the exact position of the component gripped by the bond head with respect to the positioning axis of the bond head and the exact position of the substrate place must be determined.
  • Mounting devices available on the market achieve in the best case a positioning accuracy of 2 to 3 micrometers with a standard deviation of 3 sigma.
  • the object of the invention is to develop an apparatus and a method, which achieve a higher placement accuracy compared to the state of the art.
  • the apparatus comprises a bond head with a component gripper, a first drive system for moving a carrier over relatively long distances, a second drive system attached to the carrier for moving the bond head back and forth between a nominal working position and a stand-by position, a drive attached to the bond head for rotating the component gripper or a rotary drive for rotating the substrate about an axis running perpendicularly to the substrate surface, at least one substrate camera attached to the carrier and at least one component camera.
  • the bond head or the component gripper contains at least one reference mark used by both the at least one component camera and the at least one substrate camera to determine the position of the component relative to the bond head or the position of the bond head relative to the substrate location, respectively.
  • the substrate contains at least one substrate mark and the component contains at least one component mark or a structure suitable to serve as component mark.
  • the first drive system serves to move the bond head over relatively long distances with relatively low positioning accuracy.
  • the second drive system serves to move the bond head back and forth between the nominal working position and the stand-by position. In the nominal working position, the bond head covers the substrate mark(s) attached to the substrate and is therefore temporarily moved to the stand-by position where the bond head no longer covers the substrate mark(s) so that the substrate camera(s) can take an image of the substrate mark(s).
  • the second drive system preferably serves also to move the bond head over relatively small distances with very high positioning accuracy, i.e. to perform high-precision correction movements of the bond head.
  • a third drive system can be provided to perform high-precision correction movements of the substrate.
  • FIG. 1 schematically shows a first embodiment of an apparatus for mounting components on a substrate according to the invention
  • FIG. 2 schematically shows a second embodiment of an apparatus for mounting components on a substrate according to the invention
  • FIGS. 3-5 show snapshots taken during the assembly process according to the invention.
  • FIG. 1 schematically shows a first embodiment of an apparatus for mounting components 1 on a substrate 2 according to the invention.
  • the substrates 2 contain at least one substrate mark 23 ( FIG. 3 ).
  • the components 1 are flip chips in particular, but also other semiconductor chips.
  • the components 1 can also be electronic, optical or electro-optical or any other components which are to be mounted with a precision in the micrometer range or submicrometer range.
  • the mounting apparatus includes a bond head 3 , a feeding unit 4 for supplying the components 1 , a device 5 for feeding and providing the substrates 2 , and a first drive system 6 for a carrier 7 and a second drive system 8 for the bond head 3 .
  • the second drive system 8 is attached to the carrier 7 .
  • the apparatus further includes at least one component camera 9 and at least one substrate camera 10 .
  • the substrate camera(s) 10 is/are attached to the carrier 7 .
  • the bond head 3 comprises a component gripper 11 , which is rotatable about an axis 12 . In the following, a component held by the bond head 3 is referred to as component 1 a .
  • the component gripper 11 is, for example, a vacuum-operated suction element that sucks in a component 1 .
  • the feeding unit 4 comprises, for example, a wafer table, which provides a plurality of semiconductor chips, and a flip device, which removes one semiconductor chip after the other from the wafer table and provides it as flip chip for transfer to the bond head 3 .
  • the feeder unit 4 can also be a feeder unit that provides flip chips or other components one after the other for transfer to the bond head 3 .
  • the bond head 3 or the component gripper 11 contains at least one reference mark 13 ( FIG. 3 ), advantageously at least two reference marks 13 , so that both a displacement of the component 1 a held by the component gripper 11 of the bond head 3 and a rotation of the component 1 a from its set position can be detected and corrected.
  • the reference mark(s) 13 is/are mounted on the bond head 3 or component gripper 11 in such a way that it/they is/are visible in the image supplied by the component camera 9 or the images supplied by the component cameras 9 , when the bond head 3 is in the field of view of the component camera 9 or the fields of view of the component cameras 9 , and is/are visible in the image supplied by the substrate camera 10 or the images supplied by the substrate cameras 10 , respectively, when the bond head 3 is in the field of view of the substrate camera 10 or the fields of view of the substrate cameras 10 , respectively.
  • the reference mark (s) 13 is/are for example formed as cross in bore(s) in the component gripper 11 , preferably they are formed on a platelet of glass in the form of structures of chrome.
  • Glass is transparent, so that the reference mark(s) 13 is/are seen from above as well as from below and thus by all cameras 9 and 10 .
  • a glass with a very low coefficient of thermal expansion is chosen.
  • the thickness of the glass plate is advantageously selected so that at a certain height of the bond head 3 above the substrate 2 , both the reference mark(s) 13 and the substrate mark(s) 23 are imaged with sufficient sharpness in the image captured by the substrate camera(s) 10 , i.e. that both the reference mark(s) 13 and the substrate mark(s) 23 are in the depth of field of the substrate camera(s) 10 .
  • the first drive system 6 serves to transport the bond head 3 over relatively long distances, namely from a component removal location, where the bond head 3 takes the component 1 to be mounted from the feeder unit 4 , to the substrate 2 , where the bond head 3 places the component 1 a on a substrate place of the substrate 2 .
  • the requirements for the position accuracy of the first drive system 6 are relatively modest, a position accuracy of +/ ⁇ 10 ⁇ m is usually sufficient.
  • the first drive system 6 is designed, for example, as a so-called “gantry” with two or more mechanically highly stable axes of motion, of which two axes of motion allow movements of the carrier 7 in two horizontal directions running perpendicular to each other.
  • the up and down movements of the bond head 3 to remove a component 1 from the feeder unit 4 and to place the component 1 a on the substrate place of the substrate 2 can be done in different ways, for example
  • the second drive system 8 serves on the one hand to move the bond head 3 into a stand-by position, as described below in more detail, and on the other hand to enable high-precision correction movements of the bond head 3 in two different horizontal directions.
  • the second drive system 8 comprises a first drive for moving the bond head 3 along a first direction designated as u-direction and a second drive for moving the bond head 3 along a second direction designated as v-direction.
  • the directions u and v run in horizontal direction and preferably orthogonally to each other.
  • the bond head 3 comprises, optionally, a drive 14 for the rotation of the component gripper 11 around the axis 12 .
  • the device 5 for feeding and providing the substrates 2 may contain a rotary drive 15 in order to rotate the substrate 2 about an axis running orthogonally to its surface in order to alternatively eliminate any angular errors in this manner.
  • the component camera 9 or the several component cameras 9 serve to detect the position of the component 1 a in relation to the position of the reference mark(s) 13 .
  • the substrate camera 10 or the substrate cameras 10 serve to detect the position of the substrate place on which the component 1 a is to be placed, in relation to the position of the reference mark(s) 13 .
  • Each component camera 9 and each substrate camera 10 comprises an image sensor 17 and an optics 18 ( FIG. 3 ).
  • the optics 18 of the substrate camera(s) 10 comprises for example two deflecting mirrors 19 .
  • the component camera(s) 9 is/are, for example, arranged stationary on the apparatus and the bond head 3 is moved on its way from the component removal location to the substrate location above the component camera(s) 9 and is preferably, but not necessarily, stopped for taking one or more images.
  • the component camera(s) 9 can alternatively be attached to the carrier 7 .
  • either the component camera(s) 9 or the bond head 3 is/are attached to the carrier 7 by means of a retractable and extendable swivel mechanism.
  • the component camera(s) 9 or the bond head 3 respectively, is then retracted into an image capture position while moving from the component removal location to the substrate location, so that one or more images per component camera 9 can be captured during the move.
  • the component camera(s) 9 is/are extended into a stand-by position and the bond head 3 is extended into its working position.
  • the range of motion of the second drive system 8 is relatively small and even very small compared to the range of motion of the first drive system 6 .
  • the second drive system 8 must be able to move the bond head 3 from a nominal working position to the stand-by position in which the substrate marks 23 are not covered by the bond head 3 on the one hand, and on the other hand enable high-precision correction movements of the bond head 3 in two different horizontal directions.
  • the range of motion in one direction is typically a few ten millimeters, for example 20 mm or 30 mm or more, the range of motion in the other direction is typically (only) a few micrometers.
  • the nominal working position of the bond head 3 is a position that differs only slightly from the final position which the bond head 3 occupies in the last step of the assembly process.
  • the accuracy requirements for the nominal working position are relatively low, as any deviation from the nominal working position is automatically compensated later in the assembly process.
  • the apparatus is configured, to lower the carrier 7 and/or the bond head 3 and/or the component gripper 11 so far that the underside of the component 1 a is located at an extremely low height of typically only 50-200 ⁇ m above the substrate surface, and only then take an image of the substrate mark(s) 23 with the substrate camera(s) 10 . In doing so, it is achieved that the only movement after the determination of the actual position of the component 1 a with respect to its set position on the substrate place and after the execution of the high-precision correction movements is only the lowering movement of the carrier 7 and/or the bond head 3 and/or the component gripper 11 and that this distance is so short that any displacements in the u-direction and in the v-direction during this lowering movement are in the submicrometer range.
  • the position of the substrate camera(s) 10 relative to substrate 2 no longer changes. From this moment on, only the position of the bond head 3 is changed, namely by means of the second drive system 8 .
  • the position of the reference mark(s) 13 can therefore be monitored until the component 1 a is placed on the substrate 2 and any new deviation from its set position that might occur during the final lowering phase of the component 1 a can be corrected.
  • the components can therefore be mounted with an unprecedented precision in the submicrometer range.
  • FIG. 2 illustrates a second embodiment of an apparatus according to the invention, which is largely similar to the first embodiment, but with the essential difference that the second drive system 8 is designed to move the bond head 3 back and forth between the nominal working position and the stand-by position, but not for the high-precision correction movements, and that the device 5 for feeding and providing the substrates 2 comprises a third drive system 16 , which enables high-precision correction movements of the substrate 2 in at least two different horizontal directions.
  • the second drive system 8 can therefore only move the bond head 3 in a single direction running parallel to the surface of the substrate 2 .
  • the second drive system 8 may optionally also be designed to raise and lower the bond head 3 , i.e.
  • the third drive system 16 comprises a first drive for moving the substrate 2 along a first direction, again designated as u-direction, and a second drive for moving the substrate 2 along a second direction, again designated as v-direction.
  • the directions u and v run in horizontal direction and preferably orthogonally to each other.
  • the third drive system 16 may optionally also have a rotary drive 15 which allows rotation of the substrate 2 about an axis perpendicular to the surface of substrate 2 in order to eliminate any angular errors.
  • the mounting of a component 1 is now explained in detail.
  • the mounting method according to the invention comprises the following steps A to O. The steps can be in part executed in a different order.
  • step B is carried out by: With the first drive system 6 moving the carrier 7 to the component camera 9 or the component cameras 9 .
  • step B is performed by: Moving the component camera(s) 9 and the bond head 3 relative to each other into an image acquisition position.
  • the components 1 contain component marks 22 ( FIG. 3 ) or other structures that can be used as component marks.
  • the component marks 22 serve to detect the position of the component 1 a with respect to the reference mark(s) 13 with the required accuracy.
  • step C is followed by the step: Moving the component camera(s) 9 and the bond head 3 relative to each other so that the bond head 3 is in its normal working position and, if necessary, the component camera(s) 9 is in a stand-by position.
  • the first correction vector comprises three components ⁇ x 1 , ⁇ y 1 and ⁇ 1 , wherein ⁇ x 1 designates the displacement of a reference point of the component 1 a in a first direction designated as x 1 -direction and ⁇ y 1 the displacement of the reference point of the component 1 a in a second direction designated as y 1 -direction and ⁇ y 1 designates the rotation of the component 1 a around the reference point of the component 1 a with respect to the reference mark(s) 13 .
  • the components ⁇ x 1 and ⁇ y 1 are given in pixel coordinates of the component camera(s) 9 , the component ⁇ 1 is an angle.
  • the first correction vector is a null vector, if the the actual position of the component 1 a already corresponds to its set position.
  • the first correction movement comprises three correction values ⁇ u 1 , ⁇ v 1 and ⁇ 1 .
  • the correction values ⁇ u 1 and ⁇ v 1 are calculated from the components ⁇ x i , ⁇ y 1 and ⁇ 1 .
  • the correction value ⁇ 1 is calculated from the angular error ⁇ 1 .
  • the correction values ⁇ u 1 , ⁇ v 1 and ⁇ 1 are all given in machine coordinates of the corresponding drives.
  • the correction values ⁇ u 1 and ⁇ v 1 indicate the distances by which the second drive system 8 must move the bond head 3 (in the apparatus shown in FIG. 1 ) or the third drive system 16 must move the substrate 2 (in the apparatus shown in FIG.
  • the correction value ⁇ 1 indicates the angle by which the drive 14 mounted on the bond head 3 must rotate the component gripper 11 or the rotary drive 15 must rotate the substrate 2 in order to eliminate the detected deviation of the actual position of the component 1 a from its set position relative to the reference mark(s) 13 .
  • the distance D is typically about 50-200 micrometers, but is not limited to these values. However, the distance D is so small that when the component 1 a is subsequently lowered to the substrate place, usually no displacements of the component 1 a occur in the directions u and v that lead to a significant position error.
  • Steps F, G and H can be executed one after the other or simultaneously, i.e. in parallel.
  • the carrier 7 and thus also the substrate camera(s) 10 attached to the carrier 7 are no longer moved during the following, remaining steps.
  • the bond head 3 is usually in its nominal working position.
  • the substrate camera(s) 10 does not see the substrate marks 23 because the bond head 3 covers them.
  • the position of the stand-by position is selected such that the bond head 3 does not cover the substrate mark(s) 23 .
  • the second correction vector comprises three components ⁇ x 2 , ⁇ y 2 and ⁇ 2 , wherein ⁇ x 2 designates the displacement of the reference mark(s) 13 in a first direction designated as x 2 -direction and ⁇ y 2 the displacement of the reference mark(s) 13 in a second direction designated as y 2 -direction and ⁇ 2 designates the rotation of the reference mark(s) 13 with respect to the substrate place.
  • the components ⁇ x 2 and ⁇ y 2 are given in pixel coordinates of the substrate camera(s) 10 , the component ⁇ 2 is an angle.
  • the second correction movement comprises three correction values ⁇ u 2 , ⁇ v 2 and ⁇ 2 .
  • the correction values ⁇ u 2 and ⁇ v 2 are calculated from the components ⁇ x 2 , ⁇ y 2 and ⁇ 2 .
  • the correction value ⁇ 2 is calculated from the angular error ⁇ 2 .
  • the correction values ⁇ u 2 , ⁇ v 2 and ⁇ 2 are all given in machine coordinates of the corresponding drives.
  • the correction values ⁇ u 2 and ⁇ v 2 indicate the distances by which the second drive system 8 must move the bond head 3 (in the apparatus shown in FIG. 1 ) or the third drive system 16 must move the substrate 2 (in the apparatus shown in FIG.
  • the correction value ⁇ 2 indicates the angle by which the drive 14 mounted on the bond head 3 must rotate the component gripper 11 or the rotary drive 15 must rotate the substrate 2 in order to eliminate the detected deviation of the reference mark(s) 13 of the bond head 3 from their set position in relation to the substrate mark(s) 23 of the substrate 2 .
  • the displacements by the correction values ⁇ u 1 , ⁇ v 1 , ⁇ u 2 and ⁇ v 2 are carried out by the second drive system 8 for the apparatus according to FIG. 1 and by the third drive system 16 for the apparatus according to FIG. 2 .
  • the rotation by the correction values ⁇ 1 and ⁇ 2 is performed by the drive 14 or the rotary drive 15 .
  • the method may optionally also include steps P to T, which are carried out once or several times after step N:
  • the first correction movement calculated in step E and executed in step N for the bond head 3 and the component gripper 11 also shifts the position of the reference mark(s) 13 .
  • This shift of the reference mark(s) 13 is deducted in step R, because the first correction movement has nothing to do with the orientation with respect to the substrate position.
  • the further correction movement for the bond head 3 and the component gripper 11 comprises components ⁇ u w , ⁇ v w , which are given in machine coordinates of the second drive system 8 , and a component ⁇ w , which is an angular change in machine coordinates of the drive 14 or the rotary drive 15 .
  • the optional steps P to U serve to check whether the bond head 3 has actually reached a position within the required accuracy after executing the correction movements in step N, and if this is not the case, iteratively perform further correction steps until this is the case.
  • the detected deviation must for each component be within the required accuracy.
  • Step O of the method according to the invention can—especially in the case of an apparatus according to FIG. 1 —be supplemented by a monitoring in which the position of the reference mark(s) 13 is continuously detected by means of the substrate camera(s) 10 while the carrier 7 or the bond head 3 or the component gripper 11 is lowered and stabilized by means of the second drive system 8 and the drive 14 or the rotary drive 15 , to avoid any change of the position of the reference mark(s) 13 and thus of the component 1 a .
  • Step O can therefore be replaced by the following step O1:
  • the substrate camera or substrate cameras 10 (including image evaluation) and the second drive system 8 , if necessary together with the drive 14 or the rotary drive 15 , form a closed loop axis of motion.
  • FIGS. 3 to 5 show snapshots taken during the mounting process according to the invention.
  • the illustration is carried out using a mounting apparatus comprising a single component camera 9 and two substrate cameras 10 , the two substrate cameras 10 being attached to the carrier 7 as mentioned above.
  • FIG. 3 shows a section of the mounting apparatus after step B.
  • FIG. 4 shows a section of the mounting apparatus during step I, when the bond head 3 is in the standby position and the two substrate cameras 10 take the first image.
  • FIG. 5 shows a section of the mounting apparatus a little bit later during step K, when the bond head 3 is in a position, in which each of the fields of view of the two substrate cameras 10 contains at least one reference mark 13 .
  • the position of the substrate cameras 10 relative to the substrate 2 has not changed during the movement of the bond head 3 from the state shown in FIG. 4 to the state shown in FIG. 5 .
  • FIGS. 3 and 5 also illustrate the beam path 20 from the reference marks 13 to the image sensors 17 of the substrate cameras 10
  • FIG. 4 illustrates the beam path 21 from the substrate marks 23 to the image sensors 17 of the substrate cameras 10 .
  • a mounting apparatus with a single substrate camera 10 requires a different arrangement of the reference mark(s) 13 on the bond head 3 or component gripper 11 and the substrate mark(s) 23 on the substrate 2 . Since the components 1 are usually rectangular, the component mark(s) 22 , the reference mark(s) 13 and the substrate mark(s) 23 are often arranged in two diagonally opposite corners of the rectangle or in two adjacent corners of the rectangle, as this achieves the highest accuracy.
  • the bond head 3 moves from its nominal working position to the stand-by position in a direction lying in the drawing plane. However, it can also occur in a direction perpendicular to the drawing plane.
  • component camera is to be understood functionally, i.e. an optical deflection system can form a component camera together with the substrate camera, as described in the published patent application US 20170092613 (A), which is incorporated by reference into this application.
  • a (single) camera and a first optical deflection system form together a first image detection system which makes it possible to take an image of the substrate location on which the component is to be mounted
  • the camera, the first optical deflection system and a second optical deflection system form together a second image detection system which makes it possible to take an image of the underside of the component held by the bond head.
  • the first image detection system corresponds to the substrate camera and the second image detection system corresponds to the component camera.
  • the first optical deflection system may under certain circumstances also be omitted.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Computer Hardware Design (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Operations Research (AREA)
  • Automation & Control Theory (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Wire Bonding (AREA)
US15/947,571 2017-04-28 2018-04-06 Apparatus and method for mounting components on a substrate Active 2038-11-03 US10973158B2 (en)

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US11776930B2 (en) * 2019-12-16 2023-10-03 Asmpt Singapore Pte. Ltd. Die bond head apparatus with die holder motion table
CN112885763A (zh) * 2021-02-04 2021-06-01 深圳市汇川技术股份有限公司 晶体管定位装置、功率器件及电机控制装置
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JP2023106662A (ja) * 2022-01-21 2023-08-02 東レエンジニアリング株式会社 実装装置および実装方法
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TWI802343B (zh) * 2022-03-28 2023-05-11 盟立自動化股份有限公司 對位設備及對位方法
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US11924974B2 (en) 2017-04-28 2024-03-05 Besi Switzerland Ag Apparatus for mounting components on a substrate
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KR102560942B1 (ko) 2023-07-27
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US11696429B2 (en) 2023-07-04
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US11924974B2 (en) 2024-03-05
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US20230284426A1 (en) 2023-09-07
SG10201802976SA (en) 2018-11-29
KR20180121395A (ko) 2018-11-07
DE102018109512A1 (de) 2018-10-31
TWI755526B (zh) 2022-02-21
CN117672911A (zh) 2024-03-08
US20210195816A1 (en) 2021-06-24
JP2018190958A (ja) 2018-11-29
CN108807224B (zh) 2023-12-05
CH713732A2 (de) 2018-10-31
DE102018109512B4 (de) 2020-10-29
US20180317353A1 (en) 2018-11-01

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